U.S. patent application number 10/920646 was filed with the patent office on 2005-02-10 for method and system for registering a medical situation associated with a first coordinate system, in a second coordinate system using an mps system.
This patent application is currently assigned to MEDIGUIDE LTD.. Invention is credited to Eichler, Uzi, Strommer, Gera.
Application Number | 20050033149 10/920646 |
Document ID | / |
Family ID | 32716903 |
Filed Date | 2005-02-10 |
United States Patent
Application |
20050033149 |
Kind Code |
A1 |
Strommer, Gera ; et
al. |
February 10, 2005 |
Method and system for registering a medical situation associated
with a first coordinate system, in a second coordinate system using
an MPS system
Abstract
System for registering a first image with a second image, the
system including a first medical positioning system for detecting a
first position and orientation of the body of a patient, a second
medical positioning system for detecting a second position and
orientation of the body, and a registering module coupled with a
second imager and with the second medical positioning system, the
first medical positioning system being associated with and coupled
with a first imager, the first imager acquiring the first image
from the body, the first imager producing the first image by
associating the first image with the first position and
orientation, the second medical positioning system being associated
with and coupled with the second imager, the second imager
acquiring the second image and associating the second image with
the second position and orientation, the registering module
registering the first image with the second image, according to the
first position and orientation and the second position and
orientation.
Inventors: |
Strommer, Gera; (Haifa,
IL) ; Eichler, Uzi; (Haifa, IL) |
Correspondence
Address: |
DARBY & DARBY P.C.
P. O. BOX 5257
NEW YORK
NY
10150-5257
US
|
Assignee: |
MEDIGUIDE LTD.
Haifa
IL
|
Family ID: |
32716903 |
Appl. No.: |
10/920646 |
Filed: |
August 18, 2004 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10920646 |
Aug 18, 2004 |
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10458332 |
Jun 9, 2003 |
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10458332 |
Jun 9, 2003 |
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10341535 |
Jan 13, 2003 |
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Current U.S.
Class: |
600/407 |
Current CPC
Class: |
G06T 7/33 20170101; A61B
5/055 20130101; A61B 5/702 20130101; A61B 2034/2051 20160201; G06T
2207/30021 20130101; A61B 2034/2048 20160201; G06T 2207/30101
20130101; G06T 2207/10081 20130101; A61B 5/06 20130101; A61N 5/1049
20130101; A61B 2034/2072 20160201; A61B 2034/256 20160201; A61B
5/062 20130101; A61B 5/704 20130101; A61B 2090/364 20160201; A61B
2090/376 20160201; A61B 34/20 20160201 |
Class at
Publication: |
600/407 |
International
Class: |
A61B 005/05 |
Claims
1-33. (Canceled)
34. The system according to claim 33, further comprising said
therapeutic device.
35. The system according to claim 33, further comprising said
storage unit for recording said initial position and
orientation;
36. The system according to claim 33, wherein said positioning user
interface produces at least one indication to determine whether a
currently detected position and orientation is substantially the
same as said initial position and orientation detector.
37. The system according to claim 36, wherein said at least one
indication includes a first indication respective of said currently
detected position and orientation, and a second indication
respective of said initial position and orientation.
38. The system according to claim 36, wherein said system further
comprises a comparator coupled with said storage unit, said medical
positioning system and with said positioning user interface,
wherein said comparator compares said currently detected position
and orientation with said initial position and orientation, wherein
said comparator provides a signal to said positioning user
interface, respective of the outcome of said comparison, and
wherein said positioning user interface produces said at least one
indication according to said signal.
39. The system according to claim 36, wherein said at least one
indication is selected from the list consisting of: visual; audio;
and tactile.
40. The system according to claim 33, wherein said system further
comprises: a moving mechanism coupled with said therapeutic device;
and a controller coupled with said moving mechanism, and wherein
said controller directs said moving mechanism to move said
therapeutic device, such that said therapeutic device medically
treats at least a portion of said selected tissue.
41. The system according to claim 40, wherein said system further
comprises a therapeutic device user interface coupled with said
controller, wherein said therapeutic device user interface is
employed to enter movement data in said controller, said movement
data being respective of directions from which said therapeutic
device medically treats said selected tissue, and wherein said
controller directs said moving mechanism to move said therapeutic
device according to said movement data.
42. The system according to claim 40, wherein said system further
comprises a therapeutic device user interface coupled with said
controller, wherein said therapeutic device user interface is
employed to enter a set of coordinates in said controller, said set
of coordinates being respective of the boundary of said selected
tissue, and wherein said controller directs said moving mechanism
to move said therapeutic device according to said set of
coordinates.
43. The system according to claim 33, wherein said set of
coordinates is selected from the list consisting of: discrete; and
volumetric.
44. The system according to claim 33, wherein said system further
comprises: a moving mechanism coupled with an operating table on
which said patient lies; and a controller coupled with said moving
mechanism, and wherein said controller directs said moving
mechanism to move said operating table, such that said therapeutic
device medically treats at least a portion of said selected
tissue.
45. The system according to claim 33, wherein said system further
comprises: at least one moving mechanism coupled with an operating
table on which said patient lies and with said therapeutic device;
and a controller coupled with said at least one moving mechanism,
and wherein said controller directs said at least one moving
mechanism to move said therapeutic device and said operating table,
such that said therapeutic device medically treats at least a
portion of said selected tissue.
46. The system according to claim 33, wherein said therapeutic
device is selected from the list consisting of: linear accelerator;
local robotic surgical device; and remote tele-surgical device.
47. The system according to claim 33, wherein said selected tissue
is selected from the list consisting of: tumoral; and non
tumoral.
48. The system according to claim 33, further comprising a body
intrusion device for placing said position and orientation detector
at said selected location.
49. Method for re positioning a portion of the body of a patient
during a multi-session automatic therapeutic procedure, the method
comprising the procedures of: detecting an initial position and
orientation of a position and orientation detector, wherein said
initial position and orientation is associated with a therapeutic
position and orientation, suitable for automatically treating a
selected tissue of said body; recording said initial position and
orientation; detecting the current position and orientation of said
position and orientation detector, at the beginning of each
recurring medical treatment; and indicating whether said current
position and orientation is substantially the same as said recorded
position and orientation.
50. The method according to claim 49, further comprising a
procedure of medically treating said selected tissue, while
maintaining said position and orientation detector at said recorded
initial position and orientation.
51. The method according to claim 49, further comprising a
procedure of directing a therapeutic device to move to an
orientation suitable for automatically treating said selected
tissue, when said current position and orientation is substantially
the same as said recorded initial position and orientation.
52. The method according to claim 49, further comprising a
preliminary procedure of fixing said position and orientation
detector at a selected location associated with said selected
tissue.
53. The method according to claim 49, wherein said procedure of
indicating comprises a sub procedure of comparing said current
position and orientation with said recorded initial position and
orientation of.
54. The method according to claim 49, further comprising a
procedure of controlling the movement of a therapeutic device
relative to said selected tissue, such that said therapeutic device
medically treats at least a portion of said selected tissue.
55. System for medically treating a selected tissue within the body
of a patient, the system comprising: a first medical positioning
system for detecting a first position and orientation of a position
and orientation detector in a first coordinate system, when said
position and orientation detector is coupled with said first
medical positioning system, said position and orientation detector
being located at a selected location associated with said selected
tissue; a second medical positioning system for detecting a second
position and orientation of said position and orientation detector
in a second coordinate system, when said position and orientation
detector is coupled with said second medical positioning system;
and a registering module coupled with said second medical
positioning system and with a therapeutic device, said registering
module registering a set of coordinates of said selected tissue in
said first coordinate system, with said second coordinate system,
said set of coordinates being associated with said first position
and orientation, said therapeutic device medically treating said
selected tissue according to said registered set of
coordinates.
56. The system according to claim 55, further comprising: an imager
coupled with said first medical positioning system; a storage unit
coupled with said first medical positioning system and with said
imager; and a user interface coupled with said imager, said user
interface being employed for storing said set of coordinates in
said storage unit; wherein said imager acquires at least one image
from a section of said body, said at least one image including an
image of said selected tissue, and wherein said user interface
displays said at least one image.
57. The system according to claim 55, further comprising said
imager and said therapeutic device.
58. The system according to claim 55, wherein said imager is
selected from the list consisting of: fluoroscopy; ultrasound;
thermography; nuclear magnetic resonance; and optical imaging.
59. The system according to claim 55, wherein said system further
comprises: a moving mechanism coupled with said therapeutic device;
and a controller coupled with said registering module, said
therapeutic device and with said moving mechanism, wherein said
controller receives a signal from said registering module,
respective of said registered set of coordinates, and wherein said
controller directs said moving mechanism to move said therapeutic
device with respect to said selected tissue, such that said
therapeutic device medically treats at least a portion of said
selected tissue.
60. The system according to claim 55, wherein said therapeutic
device is selected from the list consisting of: linear accelerator;
local robotic surgical device; and remote tele-surgical device.
61. Method for medically treating a selected tissue within the body
of a patient, the method comprising the procedures of: detecting a
first position and orientation of a detector in a first coordinate
system, by a first medical positioning system, said detector being
located at a selected location associated with said selected
tissue; associating a set of coordinates of said selected tissue in
said first coordinate system, with said first position and
orientation; detecting a second position and orientation of said
detector in a second coordinate system, by a second medical
positioning system; and registering said associated set of
coordinates with said second coordinate system, according to said
second position and orientation.
62. The method according to claim 61, further comprising a
procedure of medically treating said selected tissue according to
said registered set of coordinates.
63. The method according to claim 61, further comprising a
preliminary procedure of fixing said detector at said selected
location.
64. The method according to claim 61, further comprising a
procedure of acquiring at least one image of a section of said body
after performing said procedure of fixing, said at least one image
including an image of said selected tissue.
65. The method according to claim 64, further comprising a
procedure of displaying said at least one image.
66. The method according to claim 61, further comprising a
procedure of providing said registered set of coordinates to a
therapeutic device, after performing said procedure of
registering.
67. The method according to claim 61, further comprising a
procedure of storing said associated set of coordinates in a
storage unit, after performing said procedure of associating.
68. The method according to claim 61, wherein said procedure of
registering includes transformation of said associated set of
coordinates from said first coordinate system to said second
coordinate system.
69. The method according to claim 68, wherein said transformation
is selected from the list consisting of: modifying said associated
set of coordinates according to a scale factor associated with said
first coordinate system and with said second coordinate system; and
modifying said associated set of coordinates according to a
transformation matrix associated with said first coordinate system
and with said second coordinate system.
70. The method according to claim 61, further comprising a
procedure of controlling the movement of a therapeutic device
relative to said selected tissue, before performing said procedure
of medical treatment, to enable said therapeutic device to
medically treat said selected tissue automatically.
71. System for adjusting an imager by means of a moving mechanism,
to a desired orientation with respect to a section of the body of a
patient, to acquire a visual representation of said section, the
visual representation including an optimal representation of a
portion of interest of a medical intervention device, the medical
intervention device being inserted into said section, the system
comprising: a medical positioning system; a processor coupled with
said medical positioning system and with said moving mechanism; and
a device position and orientation detector coupled with said
medical intervention device at said portion of interest and with
said medical positioning system, wherein said medical positioning
system detects a device position and orientation of said device
position and orientation detector, said medical positioning system
providing said device position and orientation to said processor,
wherein said processor determines said desired orientation,
according to said detector position and orientation, and wherein
said processor directs said moving mechanism to move said imager to
said desired orientation.
72. The system according to claim 71, further comprising said
moving mechanism.
73. The system according to claim 72, further comprising said
imager.
74. The system according to claim 71, further comprising an imager
position and orientation detector coupled with said imager and with
said medical positioning system, wherein said medical positioning
system detects an imager position and orientation of said imager
position and orientation detector, said medical positioning system
providing said imager position and orientation to said processor,
and wherein said processor determines said desired orientation,
according to said detector position and orientation and said imager
position and orientation.
75. The system according to claim 71, wherein said imager
comprises: a radiation generator located at one side of said body;
and a radiation detector located at another side of said body, said
radiation detector detecting the radiation generated by said
radiation generator, said portion of interest being located between
said radiation generator and said radiation detector, wherein said
system further comprises a display coupled with said imager,
wherein said radiation detector detects said visual representation,
when said imager is located at said orientation, and wherein said
display displays said visual representation.
76. The system according to claim 71, wherein said moving mechanism
has at least one degree of freedom.
77. The system according to claim 71, wherein said imager operates
in a radiation domain selected from the list consisting of:
nuclear; ultrasonic; and electromagnetic.
78. The system according to claim 71, wherein said medical
intervention device is selected from the list consisting of:
catheter; drug delivery unit; and tissue severing unit.
79. Method for adjusting an imager to a desired orientation to
acquire a visual representation of a section of the body of a
patient, the visual representation including an optimal
representation of a portion of interest of a medical intervention
device, the method comprising the procedures of: detecting a device
position and orientation of a position and orientation detector
coupled with said medical intervention device, at said portion of
interest; determining said desired orientation according to said
device position and orientation, such that said imager can acquire
said visual representation; and directing a moving mechanism to
move said imager to said desired orientation.
80. The method according to claim 79, further comprising a
preliminary procedure of inserting said medical intervention device
into said body.
81. The method according to claim 79, further comprising the
procedures of: detecting an imager position and orientation of an
imager position and orientation detector coupled with said imager;
and determining the position and orientation of said imager from
said imager position and orientation.
82. The method according to claim 79, further comprising a
procedure of retrieving an imager position and orientation from
said imager.
83. The method according to claim 79, further comprising a
procedure of acquiring said visual representation by said
imager.
84. The method according to claim 83, further comprising a
procedure of displaying said visual representation.
85. The method according to claim 79, wherein said moving mechanism
has at least one degree of freedom.
86. The method according to claim 79, wherein imager acquires said
visual representation by irradiating said section.
Description
FIELD OF THE DISCLOSED TECHNIQUE
[0001] The disclosed technique relates to medical devices in
general, and to methods and systems for acquiring images of the
body of a patient, in particular.
BACKGROUND OF THE DISCLOSED TECHNIQUE
[0002] A physician who performs an operation on the body of a
patient, generally employs a real-time imaging system, in order to
view the location and orientation of the medical intervention
device (e.g., catheter, needle), within the body of the patient
during the operation. Such real-time imaging systems are known in
the art. These systems generally enable a display to display a
representation of the medical intervention device superimposed on
an image of the body of the patient.
[0003] U.S. Pat. No. 6,351,513 issued to Bani-Hashemi et al., and
entitled "Fluoroscopy Based 3-D Neural Navigation Based on
Co-Registration of Other Modalities with 3-D Angiography
Reconstruction Data", is directed to a method for displaying a
real-time 3-D reconstruction of a catheter within a 3-D angiography
reconstruction of a vessel. The method includes the procedures of
acquiring a 3-D angiography image of the arterial tree by a
computed tomography device and registering the 3-D angiography
image with a 2-D fluoroscopic image of a vessel, according to the
structural similarities (i.e., anatomical landmarks).
[0004] The method further includes the procedures of determining
the projecting lines of the catheter by using an X-ray apparatus,
determining the location of the catheter, by intersecting the 3-D
angiography image with the projecting lines and displaying a 3-D
visualization of the 3-D reconstruction of the catheter within the
3-D angiography reconstruction of the vessel. The 3-D visualization
of the catheter is updated as the catheter is moved.
[0005] U.S. Pat. No. 6,314,310 issued to Ben-Haim et al., and
entitled "X-Ray Guided Surgical Location System with Extended
Mapping Volume", is directed to a system for inserting a needle
into a selected location of the vertebrae of a patient. The system
includes a reference element, a plurality of magnetic field
generator coils, a driver circuitry, a computer, a user interface
control, a display, a fluoroscope and a computer tomography (CT)
device. The reference element is in form of a plastic disc
transparent to visible light and X-rays, which includes three
equally spaced metal fiducial marks at the periphery thereof, a
first position and orientation sensing device at the center thereof
and another fiducial mark adjacent the first position and
orientation sensing device. The needle includes a second position
and orientation sensing device.
[0006] The magnetic field generator coils are placed on or adjacent
to a bed on which the patient lies. The fluoroscope irradiates the
patient from one side of the body of the patient. The computer
controls multiple aspects of the system. The first position and
orientation device and the second position and orientation device
sends signals to the computer, respective of the time-varying
magnetic fields generated by the magnetic field generator coils.
The computer analyzes the signals to determine the six-dimensional
position and orientation coordinates of the first position and
orientation device and the second position and orientation device,
relative to a common frame of reference defined by the magnetic
field generator coils. The computer enables the display to display
an image of the vertebrae, a representation of the first position
and orientation device and the second position and orientation
device and a representation of the needle and the fiducial marks.
The location and the angular orientation of the reference element
are determined by determining the two-dimensional coordinates of
the representation of the fiducial marks. A scaling factor is
determined for the images displayed on the display, by comparing
the determined coordinates with the known positions of the fiducial
marks.
[0007] While acquiring CT images of the body of the patient, the
reference element is fixed to the body and remains fixed to the
body in this position during the surgery. The CT images are
registered with the X-ray images, by comparing the image-derived
coordinates of the fiducial marks of the reference element, which
appear in the CT images, with the image-derived coordinates of the
fiducial marks in the X-ray images. The fiducial marks of the
reference element and the fiducial marks in the X-ray images are
visible marks. The three-dimensional CT images are rotated or
scaled, in order to align the CT images with the X-ray images and
the CT images are projected onto the plane of the X-ray images and
superimposed on the X-ray images or displayed alongside the X-ray
images.
[0008] U.S. Pat. No. 6,421,551 issued to Kuth et al., and entitled
"Method for Registering Images of a Subject with a Magnetic
Resonance System and Magnetic Resonance System for the
Implementation of the Method", is directed to a system for
readjusting the tomogram plane of an image of the body of a
patient. The system includes a control console, a magnetic
resonance system, a stereoscopic camera and a marking element. The
control console includes a control unit, an image data generator
and processor, a coordinate transformation unit, a readjustment
unit and a tomogram selecting unit. The magnetic resonance system
includes two pole shoes which are located opposite one another.
[0009] The control console is connected to the magnetic resonance
system and to the stereoscopic camera. The marking element is
composed of three reflective balls and is arranged at the patient
in the region of the knee joint, in a first coordinate system. The
stereoscopic camera acquires an image of the reflective balls and
sends the respective position data to the control console. The
coordinate transformation unit transforms the position data from
the first coordinate system to a second coordinate system of the
magnetic resonance system. When the relative movement of the
patient is known, the readjustment unit readjusts the previously
defined tomogram plane, such that it again lies relative to the
marking element with respect to the knee joint, as it did in the
preceding joint position.
[0010] One way to destroy tumors in a patient, and to prevent
metastasis, is by subjecting the target tissue to radiation
therapy. One type of radiation therapy is known as linear
acceleration, whereby.a beam of x-rays or electrons is directed at
the target tissue from different directions. Each time the linear
accelerator directs a beam towards the target tissue it also
irradiates healthy tissue which surrounds the target tissue, along
the path of the irradiation beam. Accordingly, such surrounding
tissue is irradiated significantly less than the target tissue.
[0011] The linear accelerator is programmed to irradiate a specific
volume which is generally similar to the shape of the target
tissue. Accordingly, the portion of the body including the target
tissue, has to be placed such that the target tissue is located
within that specific volume. A conventional linear acceleration
treatment includes a plurality of recurring procedures, usually
over a period of several days or weeks. Each time, the portion of
the body including the target tissue, has to be placed exactly as
it was placed in the first treatment.
[0012] For this purpose, during the first radiation session, after
locating the portion of the body which contains the target tissue
at a location appropriate for irradiation, a plurality of
non-hazardous laser beams, for example four beams, are directed
from fixed locations, toward that portion of the body. These four
points are marked by a permanent marker, such as a waterproof
marker, on the skin of the patient. At every subsequent session,
that portion of the body is re-positioned to the position and
orientation determined at the first session, by directing the same
four laser beams toward the same portion of the body and
repositioning that portion, until the four permanent marks line up
with the four laser beams.
SUMMARY OF THE DISCLOSED TECHNIQUE
[0013] It is an object of the disclosed technique to provide a
novel method and system for registering an image acquired in one
coordinate system, with another image acquired in another
coordinate system.
[0014] In accordance with the disclosed technique, there is thus
provided a system for registering a first image with a second
image. The system includes a first medical positioning system for
detecting a first position and orientation of the body of a
patient, a second medical positioning system for detecting a second
position and orientation of the body, and a registering module. The
registering module is coupled with a second imager and with the
second medical positioning system.
[0015] The first medical positioning system is associated with and
coupled with a first imager. The first imager acquires the first
image from the body and produces the first image by associating the
first image with the first position and orientation. The second
medical positioning system is associated with and coupled with the
second imager. The second imager acquires the second image and
associates the second image with the second position and
orientation. The registering module registers the first image with
the second image, according to the first position and orientation
and the second position and orientation.
[0016] Additionally, the system can include an image database
coupled with the first imager and with the registering module. The
first imager stores the data respective of the first image acquired
in the first coordinate system in the image database and the
registering module retrieves this data from the image database, in
order to register the first image with the second image.
[0017] In accordance with another aspect of the disclosed
technique, there is thus provided a method for registering a first
image with a second image. The method includes the procedures of
detecting a first position and orientation of the body of a
patient, in a first coordinate system, by a first medical
positioning system and determining a first set of coordinates of
the first image in the first coordinate system.
[0018] The method further includes the procedures of detecting a
second position and orientation of the body, in a second coordinate
system, by a second medical positioning system and determining a
second set of coordinates of the second image in the second
coordinate system. The method further includes the procedure of
registering the first set of coordinates with the second set of
coordinates.
[0019] In accordance with a further aspect of the disclosed
technique, there is thus provided a system for re-positioning a
portion of the body of a patient at the same therapeutic position
and orientation suitable for a therapeutic device to medically
treat a selected tissue of the body automatically, during multiple
therapeutic sessions. The system includes a positioning user
interface, a position and orientation detector and a medical
positioning system.
[0020] The position and orientation detector is located at a
selected location associated with the selected tissue. The medical
positioning system is coupled with a storage unit, the positioning
user interface and with the position and orientation detector. The
medical positioning system detects an initial position and
orientation of the position and orientation detector, while the
selected tissue is placed in the therapeutic position and
orientation. The medical positioning system indicates via the
positioning user interface when the position and orientation
detector is placed again in the initial position and orientation,
thereby establishing that the selected tissue is placed again in
the therapeutic position and orientation.
[0021] In accordance with another aspect of the disclosed
technique, there is thus provided a method for re-positioning a
portion of the body of a patient during a multi-session automatic
therapeutic procedure. The method includes the procedures of
detecting an initial position and orientation of a position and
orientation detector, and recording the initial position and
orientation. The method further includes the procedures of
detecting the current position and orientation of the position and
orientation detector, at the beginning of each recurring medical
treatment and indicating whether the current position and
orientation is substantially the same as the recorded position and
orientation. The initial position and orientation is associated
with a therapeutic position and orientation, suitable for
automatically treating a selected tissue of the body.
[0022] In accordance with a further aspect of the disclosed
technique, there is thus provided a system for medically treating a
selected tissue within the body of a patient. The system includes a
first medical positioning system, a second medical positioning
system and a registering module coupled with the second medical
positioning system and with a therapeutic device.
[0023] The first medical positioning system detects a first
position and orientation of a position and orientation detector in
a first coordinate system, when the position and orientation
detector is coupled with the first medical positioning system. The
position and orientation detector is located at a selected location
associated with the selected tissue. The second medical positioning
system detects a second position and orientation of the position
and orientation detector in a second coordinate system, when the
position and orientation detector is coupled with the second
medical positioning system.
[0024] The registering module registers a set of coordinates of the
selected tissue in the first coordinate system, with the second
coordinate system, wherein the set of coordinates is associated
with the first position and orientation. The therapeutic device,
then medically treats the selected tissue according to the
registered set of coordinates.
[0025] In accordance with another aspect of the disclosed
technique, there is thus provided a method for medically treating a
selected tissue within the body of a patient. The method includes
the procedures of detecting a first position and orientation of a
detector in a first coordinate system, by a first medical
positioning system, and associating a set of coordinates of the
selected tissue in the first coordinate system, with the first
position and orientation.
[0026] The method further includes the procedures of detecting a
second position and orientation of the detector in a second
coordinate system, by a second medical positioning system, and
registering the associated set of coordinates with the second
coordinate system, according to the second position and
orientation. The detector is located at a selected location
associated with the selected tissue.
[0027] In accordance with a further aspect of the disclosed
technique, there is thus provided a system for adjusting an imager
by means of a moving mechanism, to a desired orientation with
respect to a section of the body of a patient, to acquire a visual
representation of the section of the body. The visual
representation includes an optimal representation of a portion of
interest of a medical intervention device. The medical intervention
device is inserted into the section of the body of the patient.
[0028] The system includes a medical positioning system, a
processor coupled with the medical positioning system and with the
moving mechanism, and a device position and orientation detector
coupled with the medical intervention device at the portion of
interest and with the medical positioning system. The medical
positioning system detects a device position and orientation of the
device position and orientation detector. The medical positioning
system provides the device position and orientation to the
processor. The processor determines the desired orientation,
according to the detector position and orientation, and the
processor directs the moving mechanism to move the imager to the
desired orientation.
[0029] Additionally, the system can include an imager position and
orientation detector coupled with the imager and with the medical
positioning system. The medical positioning system detects an
imager position and orientation of the imager and provides the
imager position and orientation to the processor. The processor
determines the desired orientation, according to the device
position and orientation and the imager position and
orientation.
[0030] In accordance with another aspect of the disclosed
technique, there is thus provided a method for adjusting an imager
to a desired orientation to acquire a visual representation of a
section of the body of a patient. The visual representation
includes an optimal representation of a portion of interest of a
medical intervention device. The method includes the procedures of
detecting a device position and orientation of a position and
orientation detector coupled with the medical intervention device,
at the portion of interest, and determining the desired orientation
according to the device position and orientation, such that the
imager can acquire the visual representation. The method further
includes the procedure of directing a moving mechanism to move the
imager to the desired orientation. The method can further include
the procedures of detecting an imager position and orientation of
an imager position and orientation detector coupled with the imager
and determining the position and orientation of the imager from the
imager position and orientation.
BRIEF DESCRIPTION OF THE DRAWINGS
[0031] The disclosed technique will be understood and appreciated
more fully from the following detailed description taken in
conjunction with the drawings in which:
[0032] FIG. 1A is a schematic illustration of a system for
registering a first image acquired by a first imager, with a second
image acquired by a second imager, constructed and operative
according to an embodiment of the disclosed technique;
[0033] FIG. 1B is a schematic illustration of a portion of the
system of FIG. 1A, which acquires the first image;
[0034] FIG. 1C is a schematic illustration of another portion of
the system of FIG. 1A, which acquires the second image and
registers the first image with the second image;
[0035] FIG. 1D is a schematic illustration of each of the first
medical positioning system (MPS) and the second MPS of the system
of FIG. 1A;
[0036] FIG. 2A is a schematic illustration of a system for
registering a first reconstructed image with a second image
acquired by a second imager, constructed and operative according to
another embodiment of the disclosed technique;
[0037] FIG. 2B is a schematic illustration of a portion of the
system of FIG. 2A, which reconstructs the first reconstructed image
from a plurality of two-dimensional images;
[0038] FIG. 2C is a schematic illustration of another portion of
the system of FIG. 2A, which acquires the second image and
registers the first reconstructed image with the second image;
[0039] FIG. 2D is a schematic illustration of the portion of the
system of FIG. 2A, which acquires the second image by an image
detector which is attached to a medical intervention device, and
wherein this portion of the system registers the first
reconstructed image with the second image;
[0040] FIG. 3A is a schematic illustration of two body position and
orientation detectors arranged on the body of a patient, to
determine the scale factor of an image, according to a further
embodiment of the disclosed technique;
[0041] FIG. 3B is a schematic illustration of a first image of the
body of the patient, acquired by a first imager, similar to the
first imager of FIG. 1A;
[0042] FIG. 3C is a schematic illustration of a second image of the
body of the patient, acquired by a second imager similar to the
second imager of FIG. 1A, wherein the scale of the second image is
different from the scale of the first image of FIG. 3B;
[0043] FIG. 3D is a schematic illustration of the first image of
FIG. 3B, corrected according to the scale of the second image of
FIG. 3C;
[0044] FIG. 4 is a schematic illustration of a portion of the
system of FIG. 1A, in which each of the first MPS and the second
MPS is replaced by a coordinate determining unit, constructed and
operative according to another embodiment of the disclosed
technique;
[0045] FIG. 5 is a schematic illustration of a portion of the
system of FIG. 1A, in which each of the first MPS and the second
MPS is replaced by a coordinate determining unit, constructed and
operative according to a further embodiment of the disclosed
technique;
[0046] FIG. 6 is a schematic illustration of a method for operating
the system of FIG. 1A, operative according to another embodiment of
the disclosed technique;
[0047] FIG. 7 is a schematic illustration of a system for medically
treating a selected tissue of a patient during a plurality of
different treatment sessions, constructed and operative according
to a further embodiment of the disclosed technique;
[0048] FIGS. 8 is a schematic illustration of a method for
operating the system of FIG. 7, operative according to another
embodiment of the disclosed technique;
[0049] FIG. 9A is a schematic illustration of a system for
registering the boundary of a selected tissue defined in the
coordinate system of an imager, with the coordinate system of a
therapeutic device, constructed and operative according to a
further embodiment of the disclosed technique;
[0050] FIG. 9B is a schematic illustration of an irradiation
planning portion of the system of FIG. 9A;
[0051] FIG. 9C is a schematic illustration of a radiation treatment
portion of the system of FIG. 9A;
[0052] FIG. 10 is a schematic illustration of a method for
operating the system of FIG. 9A, operative according to another
embodiment of the disclosed technique;
[0053] FIG. 11 is a schematic illustration of a system for
acquiring an image of a medical intervention device, constructed
and operative according to a further embodiment of the disclosed
technique; and
[0054] FIG. 12 is a schematic illustration of a method for
operating the system of FIG. 11, operative according to another
embodiment of the disclosed technique.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0055] The disclosed technique overcomes the disadvantages of the
prior art by providing a non-visual registering system and method.
The method of disclosed technique basically includes non-visually
determining the coordinates of a first image in a first coordinate
system, non-visually determining the coordinates of a second image
in a second coordinate system and registering the first image with
the second coordinate system, according to the determined
coordinates. When the scaling of the first coordinate system and
the scaling of the second coordinate system are not the same, the
scale of the first image is modified to match that of the second
coordinate system, such that when the first image and the second
image are presented together, they are on the same scale.
Furthermore, a representation of a medical intervention device,
such as catheter, needle, forceps, and the like, can be
superimposed on the first image, by detecting the position and
orientation of the medical intervention device, via a detector
attached to the medical intervention device.
[0056] In the following description, a coordinate system can be
orthogonal, polar, cylindrical, and the like. It is noted that the
term "image" herein below, refers to any type of visual
representation of a selected portion of the body of the patient,
either acquired directly or reconstructed from raw measurements.
Such an image can be provided in one, two or three spatial
dimensions, still image or developing in time. It is noted that any
of the MPS systems mentioned herein below may be coupled with the
device or system associated therewith, either physically (i.e., in
a fixed location with respect thereto) or logically (i.e., where
both collaborate within the same coordinate system). In the
following description, a medical intervention device can be a
catheter (e.g., balloon catheter, stent catheter, surgical
catheter, dilution catheter), drug delivery unit (e.g., needle,
catheter having a coated stent or a balloon, brachytherapy unit),
tissue severing unit (e.g., forceps, ablation catheter), and the
like.
[0057] Reference is now made to FIGS. 1A, 1B, 1C and 1D. FIG. 1A,
is a schematic illustration of a system for registering a first
image acquired by a first imager, with a second image acquired by a
second imager, generally referenced 100, constructed and operative
according to an embodiment of the disclosed technique. FIG. 1B, is
a schematic illustration of a portion of the system of FIG. 1A,
which acquires the first image. FIG. 1C, is a schematic
illustration of another portion of the system of FIG. 1A, which
acquires the second image and registers the first image with the
second image. FIG. 1D, is a schematic illustration of each of the
first medical positioning system (MPS) and the second MPS of the
system of FIG. 1A, generally referenced 180.
[0058] With reference to FIG. 1A, system 100 includes a first MPS
102, a first imager 104, an image database 106, a second imager
108, a second MPS 110 and a registering module 112. Each of first
MPS 102 and second MPS 110 is a device which determines the
position and orientation of a three-dimensional body (not shown),
according to a signal received from a position and orientation
detector (not shown), which is attached to the three-dimensional
body. Each of first MPS 102 and second MPS 110 is similar to the
MPS of U.S. Pat. No. 6,233,476, which is herein incorporated by
reference. Each of first MPS 102 and second MPS 110 can be replaced
by a position and orientation determining device which determines
the position and orientation of the three-dimensional body by
performing a triangulation operation on signals received from a
plurality of detectors. These alternative position and orientation
determining devices are described herein below in connection with
FIGS. 4 and 5.
[0059] Image database 106 is a data storage unit, such as magnetic
memory unit (e.g., floppy diskette, hard disk, magnetic tape),
optical memory unit (e.g., compact disk), volatile electronic
memory unit (e.g., random access memory), non-volatile electronic
memory unit (e.g., read only memory, flash memory), remote network
storage unit, and the like. Each of first imager 104 and second
imager 108 is a device which acquires an image of the body of a
patient (not shown), (e.g., fluoroscopy, ultrasound, nuclear
magnetic resonance--NMR, optical imaging, thermography, nuclear
imaging--PET). Registering module 112 is a module which registers
the first image with the second image.
[0060] First imager 104 is coupled with first MPS 102 and with
image database 106. Second imager 108 is coupled with second MPS
110. Registering module 112 is coupled with image database 106,
second imager 108 and with second MPS 110.
[0061] Alternatively, the system includes a plurality of medical
systems (e.g., imager, automated therapeutic system), each
associated with an MPS system and all coupled together via a
network (e.g., LAN, WAN, wired or wireless). It is noted that each
of these MPS systems is spatially calibrated with the respective
medical system associate therewith, such that both either share the
same coordinate system or are able to translate between the medical
system coordinate system and the MPS system coordinate system.
[0062] With reference to FIG. 1B, a body position and orientation
detector 130 is attached to the body of a patient 132. Body
position and orientation detector 130 is similar to the sensor of
U.S. Pat. No. 6,233,476 which is herein incorporated by reference.
Body position and orientation detector 130 is either attached to
the skin (not shown) of patient 132, placed under the skin, or
implanted within the body of patient 132. Thus, body position and
orientation detector 130 is fixed to the body of patient 132. First
MPS 102 is coupled with body position and orientation detector 130
and with first imager 104. First imager 104 is coupled with image
database 106.
[0063] First MPS 102 is associated with an X.sub.1, Y.sub.1,
Z.sub.1 coordinate system (i.e., coordinate system I). First imager
104 is calibrated with first MPS 102, such that the position and
orientation of first imager 104 is defined relative to coordinate
system I. Body position and orientation detector 130 provides a
signal respective of the position and orientation thereof, to first
MPS 102. First MPS 102 determines the position and orientation of
body position and orientation detector 130 in coordinate system I,
according to the signal received from body position and orientation
detector 130. First MPS 102 provides a signal respective of the
position and orientation of body position and orientation detector
130, to first imager 104. First imager 104 acquires a first image
134 of the body of patient 132 and stores in image database 106,
the set of coordinates of first image 134 in coordinate system I,
together with the coordinates of body position and orientation
detector 130 in coordinate system I.
[0064] Generally, this portion of system 100 (i.e., the stage of
acquisition of first image 134 from the body of patient 132), is
performed prior to performing a medical operation on patient 132.
Hence, the image acquisition stage as illustrated in FIG. 1B can be
performed at a physical location different than that of the image
acquisition and medical operation stage, as illustrated in FIG.
1C.
[0065] With reference to FIG. 1C, second MPS 110 is coupled with
body position and orientation detector 130, device position and
orientation detector 154, second imager 108 and with registering
module 112. Registering module 112 is coupled with image database
106 and with second imager 108.
[0066] Second imager 108 acquires a second image (e.g., a second
image 150) of the body of patient 132, while a clinical staff
performs the medical operation on patient 132. Second MPS 110 is
associated with an X.sub.2, Y.sub.2, Z.sub.2 coordinate system
(i.e., coordinate system II). Second imager 108 is calibrated with
second MPS 110, such that the position and orientation of second
imager 108 is defined relative to coordinate system II.
[0067] Body position and orientation detector 130 provides a signal
respective of the position and orientation thereof, to second MPS
110. Second MPS 110 determines the position and orientation of the
body position and orientation detector 130 in coordinate system II,
according to the signal received from body position and orientation
detector 130. Second MPS 110 provides a signal respective of the
position and orientation of body position and orientation detector
130, to second imager 108. Second imager 108 associates the set of
coordinates of second image 150 in coordinate system II, with the
position and orientation of position and orientation detector 130
in coordinate system II and provides a respective signal to
registering module 112.
[0068] Registering module 112 retrieves from image database 106,
the data respective of the set of coordinates of first image 134 in
coordinate system I, and the coordinates of body position and
orientation detector 130 in coordinate system I. Registering module
112 registers the position and orientation of body position and
orientation detector 130 in coordinate system I, with the position
and orientation of body position and orientation detector 130 in
coordinate system II. In this manner, registering module 112
registers first image 134, which was originally acquired in
coordinate system I, with coordinate system II, such that both
first image 134 and second image 150 can be presented together
within the same coordinate system II. It is noted that registering
module 112 registers first image 134 with second image 150, by
employing a position and orientation detector and without any
visible marks or visible markers.
[0069] In case the scale of coordinate system I is not exactly the
same as that of coordinate system II, registering module 112 can
change the scale of first image 134 according to the scale factor
between coordinate system I and coordinate system II. This scale
factor is stored in registering module 112. For this purpose, more
than one position and orientation detector similar to body position
and orientation detector 130, can be employed, as described herein
below, in connection with FIG. 3A.
[0070] Body position and orientation detector 130 is secured to a
selected point on or within the body of patient 132 and maintains
substantially the same position and orientation relative to body of
patient 132. Body position and orientation detector 130 can be
wired and include a connector (not shown), in order. to disconnect
body position and orientation detector 130 from first MPS 102 and
connect body position and orientation detector 130 to second MPS
110. Alternatively, the body position and orientation detector can
be wireless.
[0071] Prior to, or during image acquisition by second imager 108,
a medical intervention device 152 may be inserted into the body of
patient 132. A device position and orientation detector 154 is
coupled with medical intervention device 152. In the example set
forth in FIG. 1C, medical intervention device 152 is a catheter,
and device position and orientation detector 154 is located at a
distal end of the catheter. In the example set forth in FIG. 1A,
first imager 104 is a CT device and second imager 108 is an X-ray
device.
[0072] Device position and orientation detector 154 provides a
signal respective of the position and orientation of the distal end
of the catheter, to second MPS 110. Second MPS 110 determines the
position and orientation of the distal end of the catheter in
coordinate system II, according to the signal received from. device
position and orientation detector 154. Second MPS 110 provides a
signal respective of the position and orientation of the distal end
of the catheter, to registering module 112.
[0073] Since in the example of FIG. 1C, second imager 108 is an
X-ray device and the catheter is made of a radiopaque material,
second image 150 includes a real time image 156 of the catheter as
well as an image of the body of patient 132.
[0074] Registering module 112 can be adapted either to merely
transform and scale coordinates from a coordinate system I to
coordinate system II or to provide image processing (e.g.,
superimposing images, adding visual representations of devices).
For example, registering module 112 can superimpose a real time
representation 158 of the distal end of medical intervention device
152 on first image 134, according to the signal received from
second MPS 110. Registering module 112 provides a video signal
respective of first image 134 and second image 150 to a display
(not shown) and the display displays first image 134 alongside
second image 150. Thus, the clinical staff can view real time image
156 of medical intervention device 152 in second image 150
alongside real time representation 158 of medical intervention
device 152 in first image 134.
[0075] In another example, registering module 112 superimposes
first image 134 on second image 150, after registering first image
134 with within coordinate system II. In this case, the
superimposed image (not shown) includes the first image, the second
image, and either the real time image of medical intervention
device or the real time visual representation of medical
intervention device.
[0076] With reference to FIG. 1D MPS 180 includes a position and
orientation processor 182, a transmitter interface 184, a plurality
of look-up table units 186.sub.1, 186.sub.2 and 186.sub.3, a
plurality of digital to analog converters (DAC) 188.sub.1,
188.sub.2 and 188.sub.3, an amplifier 190, a transmitter 192, a
plurality of MPS sensors 194.sub.1, 194.sub.2, 194.sub.3 and
194.sub.N (i.e., position and orientation detectors), a plurality
of analog to digital converters (ADC) 196.sub.1, 196.sub.2,
196.sub.3 and 196.sub.N and a sensor interface 198.
[0077] Transmitter interface 184 is coupled with position and
orientation processor 182 and with look-up table units 186.sub.1,
186.sub.2 and 186.sub.3. DAC units 188.sub.1, 188.sub.2 and
188.sub.3 are coupled with a respective one of look-up table units
186.sub.1, 186.sub.2 and 186.sub.3 and with amplifier 190.
Amplifier 190 is further coupled with transmitter 192. Transmitter
192 is also marked TX. MPS sensors 194.sub.1, 194.sub.2, 194.sub.3
and 194.sub.N are further marked RX.sub.1, RX.sub.2, RX.sub.3 and
RX.sub.N, respectively.
[0078] Analog to digital converters (ADC) 196.sub.1, 196.sub.2,
196.sub.3 and 196.sub.N are respectively coupled with sensors
194.sub.1, 194.sub.2, 194.sub.3 and 194.sub.N and with sensor
interface 198. Sensor interface 198 is further coupled with
position and orientation processor 182.
[0079] Each of look-up table units 186.sub.1, 186.sub.2 and
186.sub.3 produces a cyclic sequence of numbers and provides it to
the respective DAC unit 188.sub.1, 188.sub.2 and 188.sub.3, which
in turn translates it to a respective analog signal. Each of the
analog signals is respective of a different spatial axis. In the
present example, look-up table 186.sub.1 and DAC unit 188.sub.1
produce a signal for the X axis, look-up table 186.sub.2 and DAC
unit 188.sub.2 produce a signal for the Y axis and look-up table
186.sub.3 and DAC unit 188.sub.3 produce a signal for the Z
axis.
[0080] DAC units 188.sub.1, 188.sub.2 and 188.sub.3 provide their
respective analog signals to amplifier 190, which amplifies and
provides the amplified signals to transmitter 192. Transmitter 192
provides a multiple axis electromagnetic field, which can be
detected by MPS sensors 194.sub.1, 194.sub.2, 194.sub.3 and
194.sub.N. Each of MPS sensors 194.sub.1, 194.sub.2, 194.sub.3 and
194.sub.N detects an electromagnetic field, produces a respective
electrical analog signal and provides it to the respective ADC unit
196.sub.1, 196.sub.2, 196.sub.3 and 196.sub.N coupled therewith.
Each of the ADC units 196.sub.1, 196.sub.2, 196.sub.3 and 196.sub.N
digitizes the analog signal fed thereto, converts it to a sequence
of numbers and provides it to sensor interface 198, which in turn
provides it to position and orientation processor 182.
[0081] Position and orientation processor 182 analyzes the received
sequences of numbers, thereby determining the position and
orientation of each of the MPS sensors 194.sub.1, 194.sub.2,
194.sub.3 and 194.sub.N. Position and orientation processor 182
further determines distortion events and updates look-up tables
186.sub.1, 186.sub.2 and 186.sub.3, accordingly.
[0082] According to another aspect of the disclosed technique, a
processor associates each of a plurality of two-dimensional images
acquired by a first imager, with the position and orientation of
the body of the patient and with the position of each
two-dimensional image in an organ timing signal (e.g., ECG)
acquired by a first organ timing monitor. The processor
reconstructs a plurality of three-dimensional images from the
two-dimensional images, according to the respective position and
orientation of each two-dimensional image and its position within
the organ timing signal and the processor stores the reconstructed
three-dimensional images in an image database. A registering module
retrieves a three-dimensional image from the image database
according to the current time point detected by a second organ
timing monitor and the registering module registers the retrieved
three-dimensional image with another image acquired by a second
imager.
[0083] Reference is now made to FIGS. 2A, 2B, 2C and 2D. FIG. 2A,
is a schematic illustration of a system for registering a first
reconstructed image with a second image acquired by a second
imager, generally referenced 220, constructed and operative
according to another embodiment of the disclosed technique. FIG.
2B, is a schematic illustration of a portion of the system of FIG.
2A, which reconstructs the first reconstructed image from a
plurality of two-dimensional images. FIG. 2C, is a schematic
illustration of another portion of the system of FIG. 2A, which
acquires the second image and registers the first reconstructed
image with the second image. FIG. 2D, is a schematic illustration
of the portion of the system of FIG. 2A, which acquires the second
image by an image detector which is attached to a medical
intervention device, and wherein this portion of the system
registers the first reconstructed image with the second image.
[0084] With reference to FIG. 2A, system 220 includes a processor
222, a first imager 224, a first MPS 226, a first organ timing
monitor 228, an image database 230, a registering module 232, a
second imager 234, a second MPS 236 and a second organ timing
monitor 238. Processor 222 is similar to the main computer of U.S.
patent application Ser. No. 09/782,528, which is herein
incorporated by reference. First imager 224 and second imager 234
are similar to first imager 104 and second imager 108, as described
herein above in connection with FIG. 1A. Each of first organ timing
monitor 228 and second organ timing monitor 238 is a device for
monitoring the pulse rate of an inspected organ, such as the heart,
the lungs, the eyelids, and the like. Each of first MPS 226 and
second MPS 236 is similar to MPS 180, as described herein above in
connection with FIG. 1D.
[0085] Processor 222 is coupled with first imager 224, first MPS
226 first organ timing monitor 228 and with image database 230.
First imager 224 is coupled with first MPS 226. Registering module
232 is coupled with second imager 234, second MPS 236, second organ
timing monitor 238 and with image database 230. Second imager 234
is coupled with second MPS 236.
[0086] With reference to FIG. 2B, an organ timing sensor 260 is
attached to the body of a patient 262, similar in the way that body
position and orientation detector 130 (FIG. 1B) is attached to the
body of patient 132. A first pulse sensor 264 is attached to an
organ (not shown) of patient 262, such as the heart, lungs, eyelids
and the like. Organ timing sensor 260 is coupled with first MPS
226. First pulse sensor 264 is coupled with first organ timing
monitor 228. Processor 222 is coupled with first imager 224, first
MPS 226, first organ timing monitor 228 and with image database
230. First imager 224 is coupled with first MPS 226.
[0087] First MPS 226 determines the position and orientation of
organ timing sensor 260 in an X.sub.1, Y.sub.1, Z.sub.1 coordinate
system (i.e., coordinate system I), according to a signal received
from organ timing sensor 260. First MPS 226 provides a signal
respective of the determined position and orientation of organ
timing sensor 260, to processor 222 and to first imager 224. First
imager 224 acquires a plurality of two-dimensional images from the
body of patient 262 and associates each of the acquired
two-dimensional images with the determined position and orientation
of organ timing sensor 260. First imager 224 provides a signal
respective of the associated two-dimensional images to processor
222. First organ timing monitor 228 determines the timing signal of
the organ of patient 262, according to a signal received from first
pulse sensor 264 and first organ timing monitor 228 provides a
signal respective of the timing signal to processor 222. The timing
signal can be for example, the QRS wave of the heart (not
shown).
[0088] Processor 222 associates each of the two-dimensional images
with the current time point of the timing signal. Processor 222
reconstructs a plurality of three-dimensional images from the
two-dimensional images, according to the position and orientation
of organ timing sensor 260 and according to the time points of the
timing signal. Processor 222 stores the reconstructed
three-dimensional images in image database 230.
[0089] With reference to FIG. 2C, registering module 232 is coupled
with second imager 234, second MPS 236, second organ timing monitor
238 and with image database 230. Second imager 234 is coupled with
second MPS 236. Organ timing sensor 260 and device position and
orientation detector 282 are coupled with second MPS 236. Second
pulse sensor 284 is coupled with second organ timing monitor
238.
[0090] A medical intervention device 280 is inserted into the body
of patient 262. In the example set forth in FIG. 2C, medical
intervention device 280 is a catheter. A device position and
orientation detector 282 is located at a distal end of medical
intervention device 280. Device position and orientation detector
282 detects the position and orientation of the distal end of
medical intervention device 280. A second pulse sensor 284 is
attached to the same organ of patient 262, to which first pulse
sensor 264 was attached. It is noted that first pulse sensor 264
and first organ timing monitor 228 can be employed in the
embodiment of FIG. 2C, instead of second pulse sensor 284 and
second organ timing monitor 238, respectively.
[0091] Second MPS 236 determines the position and orientation of
organ timing sensor 260 in an X.sub.2, Y.sub.2, Z.sub.2 coordinate
system (i.e., coordinate system II), according to a signal received
from organ timing sensor 260. Second MPS 236 further determines the
position and orientation of the distal end of medical intervention
device 280, according to a signal received from device position and
orientation detector 282. Second MPS 236 provides a signal
respective of the determined position and orientation of organ
timing sensor 260, to registering module 232 and to second imager
234. Second MPS 236 provides a signal respective of the determined
position and orientation of the distal end of medical intervention
device 280, to registering module 232.
[0092] Second imager 234 acquires a second image (e.g., a second
image 286 as illustrated in FIG. 2C), from the body of patient 262
and associates the second image with the determined position and
orientation of the body of patient 262. Second imager 234 provides
a signal respective of the associated second image to registering
module 232. Second organ timing monitor 238 determines the timing
signal of the organ of patient 262, according to a signal received
from second pulse sensor 284 and second organ timing monitor 238
provides a signal respective of the timing signal to registering
module 232.
[0093] Registering module 232 retrieves a three-dimensional image
(e.g., a three-dimensional image 288 as illustrated in FIG. 2C)
from image database 230, according to the determined position and
orientation of the body of patient 262 and according to the current
time point of the determined timing signal. Registering module 232
registers three-dimensional image 288, which was acquired in
coordinate system I, with coordinate system II which already
includes second image 286, which was acquired in coordinate system
II, in a similar manner as described herein above in connection
with first image 134 (FIG. 1C) and second image 150.
[0094] Registering module 232 produces different combinations of
three-dimensional image 288, second image 286, a visual
representation of the distal end of medical intervention device 280
and a real time image of medical intervention device 280. For
example, registering module 232 superimposes a real time visual
representation 290 of the distal end of medical intervention device
280 (in this case a catheter) on the retrieved three-dimensional
image, thereby producing three-dimensional image 288. Registering
module 232 provides a respective video signal to a display (not
shown). The display displays three-dimensional image 288 alongside
second image 286.
[0095] In another example, registering module 232 superimposes
three-dimensional image 288 on second image 286. Second image 286
can include a real time image 292 of medical intervention device
280. In this case, the clinical staff can view a real time visual
representation 290 of medical intervention device 280, on a
pseudo-real-time three-dimensional image of the organ of the
patient 262 (i.e., three-dimensional image 288), wherein
three-dimensional image 288 is constantly updated according to the
timing signal of the organ. Moreover, the clinical staff can view
real time image 292 of medical intervention device 280 on a real
time image of the organ (i.e., second image 286) which generally
includes less information than the pseudo-real-time
three-dimensional image (i.e., three-dimensional image 288).
[0096] With reference to FIG. 2D, registering module 232 is coupled
with second imager 316, second MPS 236, second organ timing monitor
238 and with image database 230. Second imager 316 is coupled with
second MPS 236 and with image detector 314. Device position and
orientation detector 312 and organ timing sensor 260 are coupled
with second MPS 236. Second pulse sensor 284 is coupled with second
organ timing monitor 238.
[0097] A medical intervention device 310, such as a catheter, is
inserted into the body of patient 262. A body position and
orientation detector 312 and an image detector 314 are located at a
distal end of medical intervention device 310. Image detector 314
is similar to the image detector of U.S. patent application Ser.
No. 09/949,160, which is herein incorporated by reference. Hence,
image detector 314 can be an optical coherence tomography (OCT)
imaging element, intravascular ultrasound (IVUS) transducer,
magnetic resonance imaging (MRI) element, thermography imaging
element, angiography imaging element, and the like. A second imager
316 produces a second image (e.g., a second image 318 as
illustrated in FIG. 2D), according to a signal received from image
detector 314.
[0098] Second MPS 236 determines the position and orientation of
organ timing sensor 260 in coordinate system II, according to a
signal received from organ timing sensor 260. Second MPS 236
determines the position and orientation of the distal end of
medical intervention device 310, according to a signal received
from device position and orientation detector 312. Second MPS 236
provides a signal respective of the determined position and
orientation of organ timing sensor 260, to registering module 232
and to second imager 316. Second MPS 236 provides a signal
respective of the determined position and orientation of the distal
end of medical intervention device 310, to registering module
232.
[0099] Image detector 314 provides a signal to second imager 316,
respective of surrounding objects (e.g., the intima of a blood
vessel) and second imager 316 produces a second image, such as
second image 318, according to the received signal. Second imager
316 associates the second image with the determined position and
orientation of organ timing sensor 260. Second imager 316 provides
a signal respective of the associated second image to registering
module 232. Second organ timing monitor 238 determines the timing
signal of the organ of patient 262, according to a signal
received.from second pulse sensor 284 and second organ timing
monitor 238 provides a signal respective of the timing signal to
registering module 232.
[0100] Registering module 232 retrieves a three-dimensional image
(e.g., a three-dimensional image 320 as illustrated in FIG. 2D)
from image database 230, according to the determined position and
orientation of organ timing sensor 260 and according to the current
time point of the determined timing signal. Registering module 232
registers three-dimensional image 320, which was acquired in
coordinate system I, with second image 318, which was acquired in
coordinate system II, in a similar manner as described herein above
in connection with first image 134 (FIG. 1C) and second image
150.
[0101] Registering module 232 produces different combinations of
three-dimensional image 320, second image 318, a visual
representation of the distal end of medical intervention device 310
and a real time image of medical intervention device 310. For
example, registering module 232 superimposes a real time visual
representation 322 of the distal end of medical intervention device
310 (in this case a catheter) on the retrieved three-dimensional
image, thereby producing three-dimensional image 320. Registering
module 232 provides a respective video signal to a display (not
shown). This display displays three-dimensional image 320 alongside
second image 318.
[0102] In another example, registering module 232 superimposes
three-dimensional image 320 on second image 318. Second image 318
can include a real time visual representation 324 of medical
intervention device 310.
[0103] Reference is now made to FIGS. 3A, 3B, 3C and 3D. FIG. 3A,
is a schematic illustration of two body position and orientation
detectors arranged on the body of a patient, to determine the scale
factor of an image, according to a further embodiment of the
disclosed technique. FIG. 3B is a schematic illustration of a first
image of the body of the patient, acquired by a first imager,
similar to the first imager of FIG. 1A. FIG. 3C is a schematic
illustration of a second image of the body of the patient, acquired
by a second imager similar to the second imager of FIG. 1A, wherein
the scale of the second image is different from the scale of the
first image of FIG. 3B. FIG. 3D is a schematic illustration of the
first image of FIG. 3B, corrected according to the scale of the
second image of FIG. 3C.
[0104] Body position and orientation detectors 350 and 352 are
attached to a body 354 of a patient (not shown). Each of body
position and orientation detectors 350 and 352 is attached to body
354, in a way similar to the way body position and orientation
detector 130 (FIG. 1A) is attached to the body of patient 132. Body
position and orientation detectors 350 and 352 are incorporated
with a system, such as system 100 (FIG. 1A). Hence, body position
and orientation detectors 350 and 352 can be coupled with a first
MPS similar to first MPS 102 (FIG. 1B), during image acquisition
and with a second MPS similar to second MPS 110 (FIG. 1C), while a
medical operation is performed on the patient.
[0105] A registering module similar to registering module 112 (FIG.
1C) with which a second imager similar to second imager 108 is
coupled, is not aware of the scale factor of the first image and of
the second image, produced by the first imager and the second
imager, respectively. The distance between body position and
orientation detectors 350 and 352 is designated by the letter
L.
[0106] With reference to FIG. 3B, a first imager similar to first
imager 104 (FIG. 1B), produces a first image 356 of an organ (not
shown) of body 354, in a display (not shown). Body position and
orientation detectors 350 and 352 are represented by two marks 358
and 360, respectively in the display and the distance between marks
358 and 360 is designated by L.sub.1.
[0107] With reference to FIG. 3C, a second imager similar to second
imager 108 (FIG. 1C), produces a second image 362 of the organ in
the display. Body position and orientation detectors 350 and 352
are represented by two marks 364 and 366, respectively in the
display and the distance between marks 364 and 366 is designated by
L.sub.2.
[0108] In the example set forth in FIGS. 3B and 3C, the scale of
first image 356 is twice that of second image 362 (i.e., L.sub.1=2
L.sub.2). In order to provide the correct impression of the first
image and the second image to a viewer (not shown), the first image
and the second image have to be displayed at substantially the same
scale.
[0109] With reference to FIG. 3D, the registering module scales
down first image 356 by 200%, thereby producing another first image
368. Body position and orientation detectors 350 and 352 are
represented by two marks 370 and 372, respectively in the display
and the distance between marks 370 and 372 is L.sub.1 (i.e., the
same as that of marks 364 and 366). Thus, first image 368 and
second image 362 are displayed side by side, at substantially the
same scale.
[0110] Reference is now made to FIG. 4, which is a schematic
illustration of a portion of the system of FIG. 1A, in which each
of the first MPS and the second MPS is replaced by a coordinate
determining unit, generally referenced 390, constructed and
operative according to another embodiment of the disclosed
technique. Coordinate determining unit (CDU) 390 includes a
transceiver 392, a processor 394 and a plurality of sensing units
396.sub.1, 396.sub.2 and 396.sub.N.
[0111] In a system similar to system 100 (FIG. 1A), first MPS 102
can be replaced with a first CDU and second MPS 110 can be replaced
by a second CDU. The first CDU includes a first transceiver and a
first processor, and the second CDU includes a second transceiver
and a second processor. The first CDU is associated with a first
coordinate system similar to coordinate system I (FIG. 1B) and the
second CDU is associated with a second coordinate system similar to
coordinate system I (FIG. 1C).
[0112] The first processor is coupled with the first transceiver
and with a first imager similar to first imager 104 (FIG. 1A), and
the second processor is coupled with a second imager similar to
second imager 108 and with a registering module similar to
registering module 112. In an image acquisition stage similar to
the one illustrated herein above in FIG. 1B, sensing units
396.sub.1, 396.sub.2 and 396.sub.N are coupled with the first
transceiver. In an image registration stage similar to the one
illustrated herein above in FIG. 1C, sensing units 396.sub.1,
396.sub.2 and 396.sub.N are coupled with the second
transceiver.
[0113] Each of sensing units 396.sub.1, 396.sub.2 and 396.sub.N is
attached to the body 398 of a patient (not shown), similar to the
way body position and orientation detector 130 (FIG. 1B), is
attached to the body of patient 132. Each of sensing units
396.sub.1, 396.sub.2 and 396.sub.N includes a location detector and
an orientation detector. The location detector can be an
electromagnetic coil, sonar sensor (e.g., ultrasound), and the
like.
[0114] The orientation detector can be a miniature gyroscope, and
the like. This type of gyroscope includes an oscillating chip
mounted element and a plurality of sensors and it is sold under the
trademark GyroChip.TM., by BEI Systron Donner Inertial Division,
Germany. The oscillating element oscillates by a quartz element and
the sensors produce a current proportional to rotation of the
oscillating element about an axis of the sensors. Transceiver 392
is coupled with processor 394 and with sensing units 396.sub.1,
396.sub.2 and 396.sub.N.
[0115] Transceiver 392 transmits a signal (e.g., electromagnetic or
acoustic), toward the location detector of each of sensing units
396.sub.1, 396.sub.2 and 396.sub.N. The location detector of each
of sensing units 396.sub.1, 396.sub.2 and 396.sub.N transmits a
signal respective of the location thereof, to transceiver 392, via
a respective wiring. The orientation detector of each of sensing
units 396.sub.1, 396.sub.2 and 396.sub.N transmits a signal
respective of the orientation thereof, to transceiver 392, via
another respective wiring. Processor 394 determines the position
and orientation of body 398 according to the signals received by
transceiver 392.
[0116] Additionally, a medical intervention device 400 can be
inserted into body 398 and a sensing unit 402 can be attached to a
distal end of medical intervention device 400 and sensing unit 402
can be coupled with transceiver 392. Sensing unit 402 is similar to
each of sensing units 396.sub.1, 396.sub.2 and 396.sub.N. In this
case, processor 394 can determine the position and orientation of
the distal end of medical intervention device 400, according to
signals received from sensing unit 402.
[0117] Further additionally, an imager 404, such as an ultrasound
transducer, OCT element, MRI element, thermography element,
angiography element, and the like, can be employed to acquire an
image of body 398. In this case, a sensing unit 406 is attached to
imager 404 and sensing unit 406 is coupled with transceiver 392.
Sensing unit 406 is similar to each of sensing units 396.sub.1,
396.sub.2 and 396.sub.N. Processor 394 determines the position and
orientation of imager 404 according to signals received from
sensing unit 406 and sensing units 396.sub.1, 396.sub.2 and
396.sub.N, by transceiver 392.
[0118] Reference is now made to FIG. 5, which is a schematic
illustration of a portion of the system of FIG. 1A, in which each
of the first MPS and the second MPS is replaced by a coordinate
determining unit, generally referenced 430, constructed and
operative according to a further embodiment of the disclosed
technique. Coordinate determining unit 430 includes a plurality of
receivers 432.sub.1, 432.sub.2 and 432.sub.N, a processor 434 and a
plurality of transmitters 436.sub.1, 436.sub.2 and 436.sub.N.
Transmitters 436.sub.1, 436.sub.2 and 436.sub.N are attached to a
body 438 of a patient (not shown), similar to the way body position
and orientation detector 130 (FIG. 1B), is attached to the body of
patient 132. Receivers 432.sub.1, 432.sub.2 and 432.sub.N, are
coupled with processor 434.
[0119] Each of transmitters 436.sub.1, 436.sub.2 and 436.sub.N
transmits a signal to receivers 432.sub.1, 432.sub.2 and 432.sub.N.
This signal can be electromagnetic (e.g., radio frequency or radio
pulses), optic (e.g., infrared), acoustic (e.g., ultrasound), and
the like. Processor 434 determines the position and orientation of
body 438 according to signals received from receivers 432.sub.1,
432.sub.2 and 432.sub.N and by employing a triangulation
method.
[0120] Reference is now made to FIG. 6, which is a schematic
illustration of a method for operating the system of FIG. 1A,
operative according to another embodiment of the disclosed
technique. In procedure 460, a first position and orientation of
the body of a patient is detected in a first coordinate system, by
a first medical positioning system. With reference to FIG. 1B,
first MPS 102 determines the position and orientation of the body
of patient 132 in coordinate system I, according to a signal
received from body position and orientation detector 130. It is
noted that first MPS 102 and body position and orientation detector
130, can be replaced by either coordinate determining unit 390
(FIG. 4) or coordinate determining unit 430 (FIG. 5).
[0121] In procedure 462, a first image of the body of the patient
is acquired by a first imager. With reference to FIG. 1B, first
imager 104 acquires first image 134 of the body of patient 132.
[0122] In procedure 464, a first set of coordinates of the first
image is determined in the first coordinate system. With reference
to FIG. 1B, first imager 104 determines the set of coordinates of
first image 134 in coordinate system I, and stores in image
database 106, this set of coordinates together with the coordinates
of body position and orientation detector 130 which were detected
in procedure 460.
[0123] In procedure 466, a second position and orientation of the
body of the patient is detected in a second coordinate system, by a
second medical positioning system. With reference to FIG. 1C,
second MPS 110 determines the position and orientation of body
position and orientation detector 130 in coordinate system II,
according to a signal received from body position and orientation
detector 130. It is noted that second MPS 110 and body position and
orientation detector 130, can be replaced by either coordinate
determining unit 390 (FIG. 4) or coordinate determining unit 430
(FIG. 5).
[0124] In procedure 468, a second image of the body of the patient
is acquired by a second imager. With reference to FIG. 1C, second
imager 108 acquires second image 150 of the body of patient
132.
[0125] In procedure 470, a second set of coordinates of the second
image is determined in a second coordinate system. With reference
to FIG. 1C, second imager 108 determines the set of coordinates of
second image 150 in coordinate system II and associates this set of
coordinates with the coordinates of body position and orientation
detector 130, which were detected in procedure 466.
[0126] In procedure 472, the first set of coordinates is registered
in the second coordinate system and as a result, with the second
set of coordinates. With reference to FIG. 1C, registering module
112 retrieves the data respective of the set of coordinates of
first image 134 in coordinate system I and the coordinates of body
position and orientation detector 130 in coordinate system I, from
image database 106. Registering module 112 receives a signal
respective of the set of coordinates of second image 150 in
coordinate system II and the coordinates of body position and
orientation detector 130 in coordinate system II, from second
imager 108. Registering module 112 registers first image 134 in
coordinate system II and as a result, with second image 150, by
registering the coordinates of body position and orientation
detector 130 in coordinate system I, with the coordinates of body
position and orientation detector 130 in coordinate system II.
[0127] Registering module 112 also receives a signal from second
MPS 110, respective of the position and orientation of the distal
end of medical intervention device 152. Registering module 112
superimposes real time visual representation 158 of the distal end
of medical intervention device 152 on first image 134. First image
134 and second image 150 can be displayed side by side in a
display, or superimposed on one another.
[0128] According to another aspect of the disclosed technique, a
selected position and orientation of a selected tissue of the body
of a patient, is recurrently obtained relative to a therapeutic
device, by a medical positioning system. The selected position and
orientation, which is the one which is suitable for the selected
tissue to be effectively medically treated by the therapeutic
device, is detected once during the first treatment, and stored in
a database. At the start of every subsequent treatment, the portion
of the body of the patient is re-positioned such that the currently
detected position and orientation of the detector substantially
matches the selected position and orientation.
[0129] The term "selected tissue" herein below, refers to a tissue
of the body of a patient, either internal (i.e., internal organs of
the body) or external (e.g., skin, nails, or cornea) which is to be
operated on (e.g., by irradiation, or by surgery). The selected
tissue can be a tumoral part of an organ of the body, such as
hyperplasia (i.e., a tissue having an excessive number of cells),
neoplasia (formation of new tissue), benign tumor, malignant tumor,
carcinoma, and the like (in case of irradiation), or a non-tumoral
part of an organ of the body, such as brain, liver, lungs, kidneys,
and the like (in case of surgery).
[0130] Reference is now made to FIG. 7, which is a schematic
illustration of a system for medically treating a selected tissue
of a patient during a plurality of different treatment sessions,
generally referenced 500, constructed and operative according to a
further embodiment of the disclosed technique. System 540 includes
an MPS 502, a positioning user interface 504, a storage unit 506, a
therapeutic device 508 and a moving mechanism 510.
[0131] MPS 502 is similar to first MPS 102 (FIG. 1A), as described
herein above. Positioning user interface 504 is a tactile, audio,
visual, kinesthetic user interface, and the like. Storage unit 506
is a magnetic memory unit, optical memory unit, integrated circuit,
and the like, such as hard disk, floppy diskette, compact disk,
magnetic tape, flash memory, random access memory, read only
memory, and the like.
[0132] Therapeutic device 508 is a tissue treating device such as a
linear accelerator, local robotic surgical device, remote
tele-surgical device, and the like. A linear accelerator is a
device which produces high energy X-rays and electron beams, and
bombards the selected tissue located at a predetermined point or
volume in space, from different directions. A local robotic
surgical device is a device which is operated by the clinical staff
from a substantially close distance from the patient, such as from
a control room in the same hospital. A remote tele-surgical device
is a device which is operated by the clinical staff from a remote
location, via a network, such as local area network (LAN), wide
area network (WAN) (e.g., the Internet), metropolitan area network
(MAN), and the like. Moving mechanism 510 is coupled with
therapeutic device 508, in order to move therapeutic device 508 to
different orientations and enable therapeutic device 508 to bombard
the selected tissue from different directions. In general, a moving
mechanism is adapted to move either the therapeutic device or the
patient or both, relative to one another.
[0133] Therapeutic device 508 can for example, be in form of a
C-arm which is free to rotate about one axis, thus having one
degree of freedom. Alternatively, therapeutic device 508 can have
more than one degrees of freedom. In the example set forth in FIG.
7, therapeutic device 508 is a linear accelerator. Moving mechanism
510 is an electromechanical element (e.g., rotary or linear
electric motor including power transmission elements, such gears,
pulleys and belts), electromagnetic element (e.g., an
electromagnetic coil and a moving core, and vice versa), hydraulic
element, pneumatic element, and the like.
[0134] A detector 512 is implanted in the body of a patient 514, at
a selected location associated with a selected tissue 516 located
within the body and it is fixed at this location, during the period
that patient 514 is under medical treatment. Detector 512 is
similar to body position and orientation detector 130 (FIG. 1B), as
described herein above. Detector 512 can be implanted in the body,
either invasively (i.e., by performing an incision), or
non-invasively (e.g., with the aid of a needle--not shown, or a
catheter--not shown). In case a catheter is employed, detector 512
is coupled with a distal end of the catheter, and detector 512 is
inserted into the body with the aid of the catheter. Detector 512
is left in the body for the entire treatment period. In the example
set forth in FIG. 7, detector 512 is implanted within selected
tissue 516.
[0135] Detector 512 is coupled with MPS 502 by a wiring 520 and a
quick disconnect plug (not shown). Detector 512 can be plugged into
MPS 502 prior to the start of every treatment session and
disconnected after the session. MPS 502 is coupled with positioning
user interface 504. Alternatively, the detector is coupled with the
MPS wirelessly.
[0136] During the first treatment session, the clinical staff (not
shown) positions a portion of the body of patient 514 to a position
and orientation (i.e., therapeutic position and orientation), such
that selected tissue 516 is located at a position and orientation
suitable for therapeutic device 508 to effectively treat selected
tissue 516. At this point, MPS 502 detects the position and
orientation of detector 512 (i.e., an initial position and
orientation) and the clinical staff stores this initial position
and orientation in storage unit 506, via positioning user interface
504.
[0137] Prior to the start of every subsequent treatment session,
the clinical staff couples detector 512 with MPS 502. Patient 514
lies on an operating table 518 and the clinical staff positions a
portion of the body of patient 514 at the therapeutic position and
orientation, such that the position and orientation of detector 512
is substantially identical with the stored position and
orientation. At this time, this portion of the body of patient 514
is in the same position and orientation as in the first treatment
session.
[0138] It is noted that system 500 enables the clinical staff to
repeatedly reposition the body of patient 514 at each subsequent
treatment session, at the same position and orientation as in the
first treatment session. It is further noted that operating table
518 can be replaced by another confinement device, adapted to
secure selected tissues in place, during a treatment session.
[0139] The clinical staff can determine the therapeutic position
and orientation of the body, for example, by comparing the position
and orientation of detector 512 detected in a subsequent treatment
session (i.e., an intermediate position and orientation), with the
one detected during the first treatment session (i.e., the initial
position and orientation). For this purpose, positioning user
interface 504 produces representations of these two positions and
orientations, for example, visually, acoustically, kinesthetically,
and the like. After positioning the portion of the body of patient
514 at the therapeutic position and orientation, and maintaining
this therapeutic position and orientation, the clinical staff
directs therapeutic device 508, to automatically treat selected
tissue 516 (e.g., when using a linear accelerator, to irradiate the
selected tissue from different directions).
[0140] A controller (not shown) can be coupled with therapeutic
device 508 and with moving mechanism 510. The system can further
include another a therapeutic device user interface (not shown),
coupled with the controller. The controller can be programmed to
control moving mechanism 510 to move therapeutic device 508, in
order to medically treat selected tissue 516 from these directions.
This program is fixed and invariable and is permanently stored in
the controller. Alternatively, the clinical staff can alter the
program by entering the respective parameters to the controller,
via the therapeutic device user interface.
[0141] The controller is further coupled with MPS 502. MPS 502
detects the position and orientation of detector 512 and provides a
respective signal to the controller. The controller directs moving
mechanism 510 to move therapeutic device 508 according to the
signal received from MPS 502, in a closed loop (i.e., according to
feedback from MPS 502). In this manner, the controller directs
moving mechanism 510 to change the position and orientation of
therapeutic device 508, according to changes in the position and
orientation of selected tissue 516 (i.e., movements of the body of
patient 514).
[0142] Thus, system 500 enables the clinical staff to treat patient
514 while patient 514 is in an unrestrained position and free to
move. The quality of treatment in the unrestrained position is
substantially the same than in the case where the body of patient
514 is restrained and therapeutic device 508 does not follow the
movements of patient 514 in a closed loop.
[0143] Further alternatively, the clinical staff enters a set of
coordinates respective of the boundary of the selected tissue to
the controller, via the therapeutic device user interface. The
controller controls the moving mechanism to move the therapeutic
device according to the entered set of coordinates, in order to
automatically medically treat the selected tissue. The entered set
of coordinates can be either discrete (i.e., numerical values), or
volumetric (e.g., radius of a sphere from a reference point,
height, width and depth of a cube, or radius of the base of a
cylinder and the height thereof).
[0144] Further alternatively, the moving mechanism is coupled with
the operating table and the controller is coupled with the moving
mechanism and with the therapeutic device user interface. The
clinical staff enters a set of coordinates respective of the
boundary of the selected tissue to the controller, via the
therapeutic device user interface. The controller controls the
moving mechanism to move the operating table according to the
entered set of coordinates, in order to allow the therapeutic
device to medically treat the selected tissue.
[0145] Further alternatively, the moving mechanism is coupled both
with the therapeutic device and the operating table. In any case,
the moving mechanism provides movement of the selected tissue
relative to the therapeutic device, in order to allow the
therapeutic device to medically treat the selected tissue.
[0146] Alternatively, a comparator (not shown) is coupled with MPS
502, storage unit 506 and with positioning user interface 504,
wherein the comparator compares the position and orientation of the
detector at a subsequent treatment session, with the one detected
during the first treatment session. The comparator provides a
signal to positioning user interface 504, when the comparator
determines that the stored position and orientation is
substantially identical to the currently detected position and
orientation.
[0147] Positioning user interface 504 produces an indication, such
as an audible sound, a visual cue, a tactile indication, and the
like, according to the signal received from the comparator. The
clinical staff determines according to this indication, that the
portion of the body of patient 514 is located at a position and
orientation, suitable for selected tissue 516 to be medically
treated by the therapeutic device. Further alternatively, the
detector can be implanted at a selected location so close to the
selected tissue, that the clinical staff can assure that when the
detector is located at the selected position and orientation, the
position and orientation of the selected tissue is suitable for
medical treatment.
[0148] Reference is now made to FIGS. 8, which is a schematic
illustration of a method for operating the system of FIG. 7,
operative according to another embodiment of the disclosed
technique. In procedure 522, an initial position and orientation of
a fixed detector is detected, wherein the initial position and
orientation is associated with a therapeutic position and
orientation, suitable for automatically treating a selected tissue
of the body of a patient. With reference to FIG. 7, MPS 502 detects
the position and orientation of detector 512, when detector 512 is
at a position and orientation (i.e., a therapeutic position and
orientation), suitable for therapeutic device 508 to automatically
treat selected tissue 516.
[0149] Detector 512 is previously implanted by the clinical staff,
within selected tissue 516. Alternatively, the position and
orientation detector can be implanted at a location which is
substantially close to the selected tissue (i.e., the spatial
relations between the position and orientation detector and the
selected tissue should remain unchanged at all times), so that the
clinical staff can assure that this position and orientation,
determines a position and orientation for the selected tissue to be
effectively treated by the therapeutic device.
[0150] In procedure 524, the initial position and orientation is
recorded. With reference to FIG. 7, MPS 502 stores in storage unit
506, the position and orientation of detector 512, as detected in
procedure 522. Alternatively, the clinical staff stores a set of
coordinates respective of the position and orientation of detector
512 corresponding with the therapeutic position and orientation,
via positioning user interface 504. This set of coordinates can be
determined at the treatment planning stage, for example according
to an image of the selected tissue.
[0151] In procedure 526, the current position and orientation of
the fixed detector is detected, at the beginning of each recurring
medical treatment. With reference to FIG. 7, during each subsequent
treatment session and before the medical treatment, MPS 502 detects
the position and orientation of detector 512, while the clinical
staff moves a portion of the body of patient 514 which includes
selected tissue 516. Following procedure 526 the method can proceed
either to procedure 528 or to procedure 532.
[0152] In procedure 528, it is indicated whether the current
position and orientation is substantially the same as the recorded
initial position and orientation. With reference to FIG. 7, as the
clinical staff moves the portion of the body of patient 514 which
includes selected tissue 516, positioning user interface 504
indicates whether the current position and orientation of detector
512 is substantially the same as the one which was recorded in
procedure 524. Positioning user interface 504 produces indications
respective of the current position and orientation of detector 512
and the recorded position and orientation (e.g., visually), and the
clinical staff moves patient 514 accordingly. Alternatively,
positioning user interface 504 notifies (e.g., audibly) the
clinical staff that the current position and orientation of
detector 512 substantially matches the initial position and
orientation as recorded in procedure 524.
[0153] In procedure 530, the selected tissue is medically treated,
while maintaining the detector at the recorded initial position and
orientation. With reference to FIG. 7, therapeutic device 508
medically treats selected tissue 516 (e.g., irradiating selected
tissue 516 from different directions), while the clinical staff
maintains detector 512, and thus selected tissue 516, at the
position and orientation which was recorded in procedure 524.
[0154] In procedure 532, a therapeutic device is directed to an
orientation suitable for automatically treating the
selected-tissue, when the current position and orientation is
substantially the same as the recorded initial position and
orientation. In this case, in a system similar to system 500 (FIG.
7), the MPS is coupled with the therapeutic device. Whenever the
position and orientation of the detector and thus of the selected
tissue is substantially the same as that of the recorded initial
position and orientation, the MPS directs the therapeutic device to
automatically treat the selected tissue.
[0155] According to a further aspect of the disclosed technique,
one of the coordinate systems is that of an automated medical
therapeutic device. In the following example, the automated medical
therapeutic system is a linear accelerator, used for irradiating a
selected point by irradiating a plurality of axes which cross it.
Here, a position and orientation detector is placed within the body
of the patient, at a selected location associated with a selected
tissue. The clinical staff determines the position and orientation
of a portion of the body at the planning stage and records the
position and orientation of the detector. At the radiation
treatment stage, a registering module registers the position and
orientation of the detector at the radiation treatment stage with
the one determined during the planning stage. The clinical staff,
then repositions the portion of the body, such that the position
and orientation of the detector is substantially the same as the
one determined at the planning stage and directs the therapeutic
device to irradiate the selected tissue.
[0156] Reference is now made to FIGS. 9A, 9B and 9C. FIG. 9A is a
schematic illustration of a system for registering the boundary of
a selected tissue defined in the coordinate system of an imager,
with the coordinate system of a therapeutic device, generally
referenced 540, constructed and operative according to a further
embodiment of the disclosed technique. FIG. 9B is a schematic
illustration of an irradiation planning portion of the system of
FIG. 9A. FIG. 9C is a schematic illustration of a radiation
treatment portion of the system of FIG. 9A.
[0157] With reference to FIG. 9A, system 540 includes an imager MPS
542, a user interface 544, an imager 546, a storage unit 548, an
irradiator MPS 550, a registering module 552 and an irradiating
unit 554. Irradiating unit 554 includes a controller 556, an
irradiator 558 and a moving mechanism 560. Imager 546 is coupled
with imager MPS 542, user interface 544 and with storage unit 548.
Storage unit 548 is coupled with imager MPS 542. Registering module
552 is coupled with storage unit 548, irradiator MPS 550 and with
irradiating unit 554. Controller 556 is coupled with irradiator 558
and with moving mechanism 560.
[0158] Imager MPS 542, imager 546, irradiator MPS 550 and
registering module 552 are similar to first MPS 102 (FIG. 1A),
first imager 104, second MPS 110 and registering module 112,
respectively, as described herein above. Imager 546 can be a
three-dimensional type imager, such as computer tomography,
ultrasound, and the like. Storage unit 548 and moving mechanism 560
are similar to storage unit 506 (FIG. 7) and moving mechanism 510,
respectively, as described herein above. User interface 544 is a
tactile user interface, audio, visual, and the like, such as a
keyboard, mouse, stylus, microphone, display (e.g., touch-screen
display), and the like, or a combination thereof. Irradiator 558 is
similar to the linear accelerator, as described herein above in
connection with therapeutic device 508 (FIG. 7).
[0159] With reference to FIG. 9B, imager 546 is coupled with imager
MPS 542 and with storage unit 548. Imager MPS 542 is coupled with
storage unit 548. A position and orientation detector 562 is placed
at a selected location associated with a selected tissue 564 of a
patient 566, similar to the way detector 512 (FIG. 7), is placed
within the body of patient 514. Alternatively, position and
orientation detector 562 can be inserted into the body of patient
566, at the selected location, by employing a body intrusion device
(not shown), such as a catheter, needle, and the like. Position and
orientation detector 562 is similar to body position and
orientation detector 130 (FIG. 1B), as described herein above.
Patient 566 lies on an operating table 568.
[0160] Imager MPS 542 is associated with an X.sub.1, Y.sub.1,
Z.sub.1 coordinate system (i.e., coordinate system I). Imager 546
is calibrated with imager MPS 542, such that the position and
orientation of imager 546 is defined relative to coordinate system
I. Position and orientation detector 562 provides a signal
respective of the position and orientation thereof, to imager MPS
542 via wiring 570 (alternatively, wirelessly). Imager MPS 542
determines the position and orientation of position and orientation
detector 562 in coordinate system I, according to the signal
received from position and orientation detector 562.
[0161] Imager MPS 542 provides a signal respective of the position
and orientation of position and orientation detector 562, to imager
546. Imager 546 produces a signal respective of a planning stage
image 572 of a tissue image 574 of selected tissue 564 and a
detector image 576 of position and orientation detector 562.
Planning stage image 572 can be either two-dimensional or
three-dimensional. Imager 546 provides this signal to user
interface 544 and user interface 544 displays planning stage image
572, according to the received signal. Detector image 576 can be
either a real time image of position and orientation detector 562,
or a representation thereof. It is noted that it is not necessary
for user interface 544 to display detector image 576 and that
detector image 576 serves to more clearly describe the disclosed
technique.
[0162] The clinical staff marks the boundary of tissue image 574 by
markings 578, on a selected slice of the images produced by imager
546. Imager 546, then determines a set of coordinates of a
three-dimensional image of selected tissue 564, according to the
coordinates of markings 526 in the slice. Imager 546 stores this
set of coordinates together with the coordinates of position and
orientation detector 562, in storage unit 548.
[0163] Alternatively, the clinical staff enters a set of
coordinates respective of a volume of selected tissue 564 relative
to the position and orientation of position and orientation
detector 562, to storage unit 548, via user interface 544. The
entered set of coordinates can be either discrete (i.e., numerical
values), or volumetric (e.g., radius of a sphere from a reference
point, height, width and depth of a cube, or radius of the base of
a cylinder and the height thereof.
[0164] Generally, the planning stage of system 540 as illustrated
in FIG. 9B, is performed at a location physically different from
the irradiation stage of system 540, as illustrated in FIG. 9C.
Hence, wiring 570 is provided with a connector (not shown), in
order to disconnect position and orientation detector 562 from
imager MPS 542 and connect position and orientation detector 562 to
irradiator MPS 550. However, a position and orientation detector
can be provided with wireless connections.
[0165] With reference to FIG. 9C, registering module 552 is coupled
with storage unit 548, irradiator MPS 550 and with irradiating unit
554. Position and orientation detector 562 is coupled with
irradiator MPS 550, via wiring 570.
[0166] Irradiator MPS 550 is associated with an X.sub.2, Y.sub.2,
Z.sub.2 coordinate system (i.e., coordinate system II). Irradiating
unit 554 is calibrated with irradiator MPS 550, such that the
position and orientation of irradiating unit 554 is defined
relative to coordinate system II. Position and orientation detector
562 provides a signal respective of the position and orientation
thereof, to irradiator MPS 550. Irradiator MPS 550 determines the
position and orientation of position and orientation detector 562
in coordinate system II, according to the signal received from
position and orientation detector 562. Irradiator MPS 550 provides
a signal respective of the determined position and orientation to
registering module 552.
[0167] System 540 can be operated either in a manual mode or an
automatic mode. In manual mode, moving mechanism 560 can move
irradiating unit 558 to automatically irradiate a fixed point in
space, from different directions. However, moving mechanism 560 can
not move irradiating unit 558 to irradiate points in space, other
than the fixed point.
[0168] In manual mode, registering module 552 receives data
respective of the coordinate system of irradiating unit 554 (i.e.,
coordinate system II), from irradiating unit 554. Registering
module 552, then registers the position and orientation of position
and orientation detector 562 in coordinate system I, with the
position and orientation of position and orientation detector 562
in coordinate system II. The clinical staff positions the portion
of the body of patient 566, such that the position and orientation
of position and orientation detector 562 in coordinate system II,
is substantially the same as the one determined at the planning
stage (i.e., in coordinate system I). Now, selected tissue 564 is
located at the fixed point in space, toward which irradiator 558 is
set to direct radiations from different directions. At this stage,
the clinical staff directs moving mechanism 560 to move irradiator
558, to automatically irradiate selected tissue 564 from different
directions.
[0169] In automatic mode of operation of system 540, moving
mechanism 560 can adjust the position and orientation of irradiator
558 to irradiate substantially any selected point of the body of
patient 566. In addition, moving mechanism 560 can move irradiating
unit 558, to irradiate the selected point of the body of patient
566, from different directions.
[0170] In automatic mode, registering module 552 retrieves from
storage unit 548, the data respective of the set of coordinates of
the boundary of selected tissue 564 in coordinate system I, and the
coordinates of position and orientation detector 562 in coordinate
system I. Registering module 552 registers the position and
orientation of position and orientation detector 562 in coordinate
system I, with the position and orientation of position and
orientation detector 562 in coordinate system II.
[0171] Registering module 552 provides a signal respective of the
set of coordinates of the boundary of selected tissue 564 in
coordinate system II and the position and orientation thereof in
coordinate system II, to controller 556. Controller 556 determines
a position and orientation for irradiator 558, to irradiate the
boundary of selected tissue 564, according to the data received
from registering module 552, respective of the set of coordinates
of selected tissue 564 in coordinate system II and provides a
respective signal to moving mechanism 560.
[0172] Controller 556 also determines a plurality of orientations
for irradiator 558, to irradiate selected tissue 564 from different
directions and controller 556 provides a signal respective of these
determined orientations to moving mechanism 560. Moving mechanism
560 moves irradiator 558 to the position and orientation determined
by controller 556, to irradiate selected tissue 564. Moving
mechanism 560 also moves irradiator 558 automatically, to irradiate
selected tissue 564 from different directions.
[0173] It is noted that in the automatic mode of operation of
system 540, there is no need for the clinical staff to manually
position the portion of the body of patient 566 relative to
irradiator 558. Instead moving mechanism 560 moves irradiator 558
to the appropriate position and orientation.
[0174] Controller 556 can be programmed to direct moving mechanism
560 to enable irradiator 558 to irradiate selected tissue 564 from
different directions, as described herein above in connection with
FIG. 7. In case the scale of coordinate system I and coordinate
system II are different, registering module 552 applies the scale
factor between these two coordinate systems, while registering the
position and orientation of position and orientation detector 562
in coordinate system II, as described herein above in connection
with FIG. 1C.
[0175] Alternatively, the moving mechanism is coupled with the
operating table. In this case, the controller determines a position
and orientation of the operating table to move the body of patient
566, such that irradiator 558 can direct radiations toward selected
tissue 564. The controller provides a signal respective of the
determined orientations to the moving mechanism and the moving
mechanism moves the operating table according to the signal
received from the controller. In this case too, there is no need
for the clinical staff to manually move the portion of the body of
patient 566 to a position and orientation appropriate for
irradiation, instead the moving mechanism performs this
movement.
[0176] Alternatively, the moving mechanism is coupled with both the
irradiator and the operating table. In any case, the moving
mechanism provides relative movement between the selected tissue
and the irradiator.
[0177] Reference is now made to FIG. 10, which is a schematic
illustration of a method for operating the system of FIG. 9A,
operative according to another embodiment of the disclosed
technique. In procedure 580, a detector is fixed within the body of
a patient, at a selected location associated with a selected
tissue. With reference to FIG. 9B, position and orientation
detector 562 is implanted within the body of patient 522, at the
selected location and position and orientation detector 562 is
coupled with imager MPS 542, via wiring 570.
[0178] In procedure 582, a first position and orientation of the
detector in a first coordinate system is detected by a first
medical positioning system. With reference to FIG. 9B, imager MPS
542 detects the position and orientation of position and
orientation detector 562 in coordinate system I and provides a
respective signal to imager 546.
[0179] In procedure 584, a set of coordinates of the selected
tissue in the first coordinate system, is associated with the first
position and orientation. With reference to FIG. 9B, user interface
544 displays a planning stage image 572, which includes tissue
image 574 and detector image 576. The clinical staff marks the
boundary of tissue image 574 by markings 576, by employing user
interface 544. Imager 546 provides the set of coordinates of
markings 576 together with the coordinates of position and
orientation detector 562, for storage in storage unit 548.
[0180] Alternatively, the clinical staff enters a set of
coordinates of selected tissue 564 relative to the position and
orientation of position and orientation detector 562, via the user
interface and stores this set of coordinates together with the
coordinates of position and orientation detector 562, in storage
unit 548.
[0181] In procedure 586, a second position and orientation of the
detector in a second coordinate system, is detected by a second
medical positioning system. With reference to FIG. 9C, patient 522
is located in an irradiation room, which is usually different than
the imaging room illustrated in FIG. 9B and wiring 570 is coupled
with irradiator MPS 550. Irradiator MPS 550 detects the position
and orientation of position and orientation detector 562 in
coordinate system II and provides a respective signal to
registering module 552.
[0182] In procedure 588, the associated set of coordinates is
registered with the second coordinate system, according to the
second position and orientation. With reference to FIG. 9C,
registering module 552 retrieves the set of coordinates from
storage unit 548 and registers them with coordinate system II,
according to the position and orientation of position and
orientation detector 562 in coordinate system II. Registering
module 552 further registers the set of coordinates in coordinate
system 1, with coordinate system II, according to optional
transformation information for transforming data from coordinate
system I to coordinate system II (e.g., scaling).
[0183] Registering module 552 provides a signal respective of the
registered set of coordinates to irradiating unit 554 (procedure
590). In procedure 592, the selected tissue is irradiated from
different directions, according to the registered set of
coordinates. With reference to FIGS. 9A and 9C, controller 556
determines a plurality of orientations for irradiator 558 to
irradiate the volume of selected tissue 564 in different directions
and controller 556 provides a respective signal to moving mechanism
560. Moving mechanism 560 moves irradiator 558 according to the
signal received from controller 556.
[0184] Alternatively, the moving mechanism is coupled with the
operating table, to allow movement of a portion of the body of the
patient relative to the irradiator. Further alternatively, the
moving mechanism is coupled both with the operating table and with
the irradiator. In all cases, the moving mechanism provides
movement of the selected tissue, relative to the irradiator.
[0185] According to a further aspect of the disclosed technique, a
medical positioning system determines the position and orientation
of a detector coupled with a medical intervention device which is
inserted into the body of a patient. The medical positioning system
directs an imager to move to an orientation, such that the imager
can acquire an image of the maximum possible length of a portion of
interest of the medical intervention device. This portion of
interest, is then displayed in a display.
[0186] Reference is now made to FIG. 11, which is a schematic
illustration of a system for acquiring an image of a medical
intervention device, generally referenced 600, constructed and
operative according to a further embodiment of the disclosed
technique. System 600 includes an image adjustment system 602, MPS
620, a medical intervention device 604, a device position and
orientation detector 606, an imager position and orientation
detector 608 and an imager 610. Imager 610 includes a support
structure 612, a moving mechanism 614, a radiation generator 616
and a radiation detector 618. Image adjustment system 602 includes
an MPS 620 and a processor 622.
[0187] Medical intervention device 604 is inserted into the body of
a patient 624. Patient 624 lies on an operating table 626. Device
position and orientation detector 606 is coupled with medical
intervention device 604, at a region of interest of medical
intervention device 604, for example at a distal end 628 thereof.
Imager position and orientation detector 608 is attached to imager
610. MPS 620 is coupled with device position and orientation
detector 606, imager position and orientation detector 608 and with
processor 622. Processor 622 is coupled with moving mechanism 614.
Imager 610 is a device which acquires an image (not shown) of
patient 624 (e.g., fluoroscopy, ultrasound, nuclear magnetic
resonance--NMR, optical imaging, nuclear imaging--PET,
thermography).
[0188] Imager 610 has at least three degrees of freedom. MPS 620 is
associated with an X, Y, Z coordinate system (i.e., coordinate
system I). Imager 610 is calibrated with MPS 620, such that the
position and orientation of imager 610 is defined relative to
coordinate system I.
[0189] In the example set forth in FIG. 11, imager 610 is an X-ray
type imager (known in the art as C-arm imager). Hence, radiation
generator 616 and radiation detector 618 are coupled with support
structure 612, such that radiation generator 616 is located at one
side of patient 624 and radiation detector 618 is located at an
opposite side of patient 624. Radiation generator 616 and radiation
detector 618 are located on a radiation axis (not shown), wherein
the radiation axis crosses the body of patient 624.
[0190] Moving mechanism 614 is coupled with support structure 612,
thereby enabling support structure 612 to rotate about the Y axis.
Moving mechanism 614 rotates support structure 612, thereby
changing the orientation of the radiation axis on the X-Z plane and
about the Y axis. Moving mechanism 614 is similar to moving
mechanism 560 (FIG. 9A), as described herein above. In the example
set forth in FIG. 11, device position and orientation detector 606
is located at distal end 628. The orientation of distal end 628 is
represented by a vector 632 located on the X-Z plane. In order to
obtain an image of the maximum length of distal end 628, the
radiation axis has to be aligned along a vector 632 located on the
X-Z plane, wherein vector 632 is approximately normal to vector
632.
[0191] A transmitter (not shown) transmits an electromagnetic
signal to device position and orientation detector 606 and to
imager position and orientation detector 608. Device position and
orientation detector 606 provides a signal respective of the
position and orientation thereof, to MPS 620, via a wiring 634.
Likewise, imager position and orientation detector 608 provides a
signal respective of the position and orientation of imager 610 to
MPS 620, via a wiring 636. Alternatively, each of device position
and orientation detector 606 and imager position and orientation
detector 608, is coupled with MPS 620 wirelessly.
[0192] According to signals received from device position and
orientation detector 606 and from imager position and orientation
detector 608, MPS 620 detects the position and orientation of
device position and orientation detector 606 and of imager position
and orientation detector 608, respectively. MPS 620 provides a
signal respective of the detected position and orientation of
distal end 628 and of the detected position and orientation of
imager 610 to processor 622.
[0193] Processor 622 determines that distal end 628 points along
vector 632 and that the radiation axis has to point along vector
632. Processor 622 determines the direction of vector 632,
according to signals received from device position and orientation
detector 606 and imager position and orientation detector 608.
Processor 622 provides a signal to moving mechanism 614 to move
support structure 612 according to the detected position and
orientation of imager position and orientation detector 608, such
that the radiation axis is oriented along vector 632.
[0194] Alternatively, system 600 is devoid of imager position and
orientation detector 608. In this case, the coordinates of moving
mechanism 614 is synchronized with coordinate system I. Processor
622 determines the direction of vector 632 according to the signal
received from device position and orientation detector 606, alone
and directs moving mechanism 614 to move support structure 612,
such that the radiation axis is oriented along vector 632.
Processor 622 moves mechanism 614, without receiving any feedback
signal respective of the position and orientation of imager 610 at
any time.
[0195] Further alternatively, system 600 includes a user interface
(not shown) coupled with processor 622, wherein the clinical staff
enters data respective of desired orientation ranges of imager 610
to processor 622 via the user interface. Processor 622 provides a
signal respective of the orientation data entered by the clinical
staff and moving mechanism 614 moves imager 610 according to the
signal received from processor 622.
[0196] Radiation detector 618 detects the radiation which is
produced by radiation generator 616 and which passes through a
section of the body of patient 624, and thus produces an image of
this section of the body. Radiation detector 618 provides a signal
to a display (not shown) and the display displays the image of this
section of the body. This image includes an optimal representation
of a portion of interest of medical intervention device 604 (i.e.,
an image of the maximum possible length of distal end 628).
[0197] In the example set forth in FIG. 11, the distal end of the
medical intervention device points along a direction, such that the
imager can rotate toward an orientation, at which the radiation
axis of the imager is approximately perpendicular to the direction
of the distal end of the medical intervention device.
[0198] Thus, if the distal end of the medical intervention device
points along a direction, which is not possible to align the
radiation axis exactly perpendicular to this direction, then the
imager is moved to an orientation at which an image of the longest
projection of the distal end (i.e., maximum possible length of the
portion of interest), is obtained.
[0199] Alternatively or additionally, a moving mechanism (not
shown) similar to moving mechanism 614 is coupled with operating
table and with the MPS. In this case, the MPS directs the moving
mechanism to move the operating table, such that the imager can
acquire an image which includes an optimal representation of a
portion of interest of the medical intervention device.
[0200] Reference is now made to FIG. 12, which is a schematic
illustration of a method for operating the system of FIG. 11,
operative according to another embodiment of the disclosed
technique. In procedure 650, a medical intervention device coupled
with a position and orientation detector, is inserted into the body
of a patient. With reference to FIG. 11, device position and
orientation detector 606 is located at a portion of interest (e.g.,
at distal end 628) of medical intervention device 604 and medical
intervention device 604 is inserted into the body of patient 624.
MPS 620, then detects the position and orientation of device
position and orientation detector 606 and of imager position and
orientation detector 608 (procedure 652). It is noted that the
current position and orientation of imager 610 can be obtained
internally, from sensors embedded in the imager, or externally, by
attaching an MPS sensor to imager 610.
[0201] In procedure 654, an imaging orientation of an imager is
determined according to the detected positions and orientations,
such that the imager can acquire an image of a section of the body,
wherein the image includes an optimal representation of a portion
of interest of the medical intervention device. With reference to
FIG. 11, processor 622 determines that the portion of interest of
medical intervention device 604 (i.e., distal end 628), points
along vector 622. Processor 622 further determines that imager 610
has to be moved to an orientation at which the radiation axis
thereof points along vector 632.
[0202] At this orientation, imager 610 can radiate the body of
patient 624 along an axis which is approximately perpendicular to
the direction of distal end 628. Thus, at this orientation, imager
610 can acquire an image of a section of the body of patient 624,
wherein the image includes an optimal representation of a portion
of interest of medical intervention device 604.
[0203] Processor 622 provides a signal to moving mechanism 614 to
move imager 610 to the orientation determined in procedure 654
(procedure 656). Imager 610 acquires the image (procedure 658) and
provides a respective signal to a display to display the acquired
image (procedure 660).
[0204] It will be appreciated by persons skilled in the art that
the disclosed technique is not limited to what has been
particularly shown and described hereinabove. Rather the scope of
the disclosed technique is defined only by the claims, which
follow.
* * * * *